Integrator management for redundant active hand controllers

Details Integrator management for redundant active hand controllers Integrator management for redundant active hand controllers

1994-06-30

1996-09-24

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

'reset' systems

318610, 318 34, 318 51, 318 53, 318 77, G05B 1136

Patent

active

055594158

ABSTRACT:
A redundant active hand controller system has first and second motors connected to a common shaft. A compensator which differentiates a motor command signal from a first proportional and integral controller, differentiates a motor command signal from a second proportional and integral controller and subtracts the first differentiated motor command signal from the second differentiated motor command signal to provide a correction signal. The correction signal is summed with the error signal into the first proportional and integral controller to correct for slight differences in the integral control function of the first and second proportional and integral controllers.

REFERENCES:
patent: 5272423 (1993-12-01), Kim
patent: 5278485 (1994-01-01), Kim
patent: 5365153 (1994-11-01), Fujita et al.
patent: 5373223 (1994-12-01), Akagi et al.

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